DE102009029439A1 - Method and device for representing obstacles in a parking assistance system of motor vehicles - Google Patents
Method and device for representing obstacles in a parking assistance system of motor vehicles Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/87—Combinations of sonar systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/04—Display arrangements
- G01S7/06—Cathode-ray tube displays or other two dimensional or three-dimensional displays
- G01S7/20—Stereoscopic displays; Three-dimensional displays; Pseudo-three-dimensional displays
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/42—Simultaneous measurement of distance and other co-ordinates
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9324—Alternative operation using ultrasonic waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9327—Sensor installation details
- G01S2013/93271—Sensor installation details in the front of the vehicles
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Abstract
Die Erfindung betrifft ein Verfahren zur Darstellung von Hindernissen in einem Einparkhilfesystem von Kraftfahrzeugen (2), umfassend die folgenden Schritte: a) Ermitteln eines Umfeldbildes und Erkennen von darin befindlichen Hindernisse (7, 8), b) Ermitteln von mindestens einem Abstandswert und/oder einer Winkellage der erkannten Hindernisse, c) Anwenden eines kantenverstärkenden Verfahrens auf Bereiche des Umfeldbildes in Abhängigkeit der ermittelten Abstandswerte und/oder Winkellagen und d) Anzeigen der Kantenverstärkung mit dem ermittelten Umfeldbild in einer Anzeige (9) des Einparkhilfesystems sowie eine Vorrichtung zur Durchführung des Verfahrens.The invention relates to a method for displaying obstacles in a parking aid system of motor vehicles (2), comprising the following steps: a) determining an image of the surroundings and recognizing obstacles (7, 8) therein, b) determining at least one distance value and / or an angular position of the detected obstacles, c) applying an edge-enhancing method to areas of the surrounding image depending on the determined distance values and / or angular positions and d) displaying the edge reinforcement with the determined surrounding image in a display (9) of the parking aid system and a device for carrying out the method ,
Description
Stand der TechnikState of the art
Einparkhilfesysteme in verschiedenen Ausprägungen und mit unterschiedlichen Anzeigekonzepten zur Unterstützung des Fahrers bei Einparkvorgängen sind seit langem bakannt. Sie lassen sich im Wesentlichen in zwei Klassen unterteilen, nämlich die Systeme, die auf Distanzmessungen wie beispielsweise mittels Ultraschall-, oder Radarsensensoren basieren, und die videobasierten Systeme. Die auf Distanzmessung basierenden Systeme geben dem Fahrer üblicherweise eine akustische, zum Beispiel kurze Warntöne mit distanzabhängiger Wiederholfrequenz, und/oder optische Warnung wie beispielsweise mithilfe von LED-Zeilen mit distanzabhängiger Anzahl eingeschalteter LEDs. Videobasierte Systeme dagegen umfassen beispielsweise eine Rückfahrkamera und die Videokamera erfasst die Situation im Bereich um den Heckstoßfänger, so dass das entsprechende Bild auf einem Bildschirm im Blickfeld des Fahrers ausgeben werden kann. Gegebenenfalls wird das Videobild zuvor entzerrt, um dem Fahrer ein möglichst realistischen Bild von der Umgebung darzustellen. In jüngerer Zeit finden auch kombinierte Systeme Verbreitung. Dabei werden in das angezeigte Videobild zum Beispiel Distanzbalken zur Angabe der Distanzmesswerte des Ultraschallsystems eingeblendet. Der Nachteil von videobasierten Systemen ist, dass sie die volle Aufmerksamkeit des Fahrers erfordern, speziell in Situationen, in denen das Bild nur unzureichende Merkmale zum Abschätzen der Grösse und der Distanz enthält. Auch das Einblenden von Distanzbalken verringert dieses Problem nur geringfügig, da in diesem Fall zwei unterschiedliche Klassen von Informationen, die realen Objekte und die grafisch vereinfachten künstlichen Objekte gleichzeitig vom Fahrer aufzunehmen und zu verarbeiten sind. Auch die zusätzliche akustische Warnung in einem solchen kombinierten System führt nicht zu einer vereinfachten Wahrnehmung durch den Fahrer, weil auch hier noch eine weitere Information zu verarbeiten ist.Parking assistance systems in various forms and with different display concepts to assist the driver during parking operations have long been known. They can essentially be subdivided into two classes, namely systems based on distance measurements such as ultrasonic or radar sensors, and video-based systems. The systems based on distance measurement usually give the driver an acoustic, for example short, warning tone with distance-dependent repetition frequency, and / or optical warning, for example using LED lines with a distance-dependent number of LEDs switched on. By contrast, video-based systems include, for example, a reversing camera and the video camera detects the situation in the area around the rear bumper, so that the corresponding image can be displayed on a screen in the driver's field of vision. If necessary, the video image is previously equalized in order to present the driver with a realistic picture of the environment. More recently, combined systems have also spread. In this case, for example, distance bars for indicating the distance measurement values of the ultrasound system are displayed in the displayed video image. The disadvantage of video-based systems is that they require the full attention of the driver, especially in situations where the image contains insufficient features for estimating size and distance. Also, the fade-in of distance bars only slightly reduces this problem, since in this case two different classes of information, the real objects and the graphically simplified artificial objects, are to be simultaneously recorded and processed by the driver. The additional audible warning in such a combined system does not lead to a simplified perception by the driver, because here is another information to process.
Ein weiteres Beispiel für ein kombiniertes System zur Unterstützung des Fahrers eines Kraftfahrzuegs beim Einparken ist aus der
Eine vereinfachte Wahrnehmung der tatsächlichen Umfeldsituation durch den Fahrer insbesondere im Hinblick auf nahe zum Fahrzeug befindliche Hindernisse gegenüber weiter beabstandeten Hindernissen ist durch dieses System jedoch nicht erreicht.A simplified perception of the actual environment situation by the driver, in particular with regard to obstacles located close to the vehicle in relation to further spaced obstacles, however, is not achieved by this system.
Offenbarung der ErfindungDisclosure of the invention
Das erfindungsgemäße Verfahren gemäß Anspruch 1, welches mit der ebenfalls erfindungsgemäßen Vorrichtung gemäß Anspruch 6 durchgeführt werden kann, hat gegenüber dem Stand der Technik den Vorteil, dass es den Fahrer in die Lage versetzt, mit einem einzigen Blick auf die Anzeige des Einparkhilfesystems die Relevanz von Hindernissen hinsichtlich ihres Abstands zu erfassen und zu verstehen. Zudem ist es durch die Kantenverstärkung der nahen Hindernisse geeignet, auch ohne zusätzliche grafische und/oder akustische Komponenten zuverlässig einsetzbar zu sein. Auf diese Weise wird der Fahrer entlastet, da er nicht mehr verschiedene Anzeigeelemente bzw. verschiedene Arten von Hinweisen gleichzeitig erfassen muss.The inventive method according to claim 1, which can be carried out with the device according to
Weiterhin ist vorteilhaft, dass das Verfahren sowohl die Komplexität der Anzeige beziehungsweise der Warnelement reduziert als auch insbesondere durch einen einfachen Aufbau die Zahl und Art der benötigten Komponenten auf ein Minimum beschränkt. Dadurch kann das Verfahren der vorliegenden Erfindung sowohl kostengünstig produziert werden als auch den Fahrer optimal informieren ohne ihn durch zu viele verschiedene Informationen zu verwirren.Furthermore, it is advantageous that the method reduces both the complexity of the display or the warning element and in particular by a simple structure, the number and type of components required to a minimum. Thus, the method of the present invention can both be produced inexpensively and optimally inform the driver without confusing him with too much different information.
Demgemäß ist der Gegenstand der vorliegenden Erfindung ein Verfahren zur Darstellung von Hindernissen in einem Einparkhilfesystem von Kraftfahrzeugen umfassend die folgenden Schritte:
- a) Ermitteln eines Umfeldbildes und Erkennen von darin befindlichen Hindernissen,
- b) Ermitteln von mindestens einem Abstandswert und/oder einer Winkellage der erkannten Hindernisse,
- c) Anwenden eines kantenverstärkenden Verfahrens auf Bereiche des Umfeldbildes in Abhängigkeit der ermittelten Abstandswerte und/oder Winkellagen und
- d) Anzeigen der Kantenverstärkung mit dem ermittelten Umfeldbild in einer Anzeige des Einparkhilfesystems.
- a) determining an environment picture and recognizing obstacles therein;
- b) determining at least one distance value and / or an angular position of the detected obstacles,
- c) applying an edge enhancement method to areas of the surrounding image in Dependency of the determined distance values and / or angular positions and
- d) displaying the edge enhancement with the determined environment image in a display of the parking aid system.
Die abstandsbedingten Relevanzen von einzelnen Hindernissen lassen sich aufgrund der erfindungsgemäßen Kantenverstärkung vom Fahrer leichter wahrnehmen, wodurch dessen Aufmerksamkeit auf die relevanten Hindernisse gelenkt werden kann. Ein Überangebot an Bildinformationen wird mit Hilfe des erfindungsgemäßen Verfahrens damit gefiltert und optimiert auf die Bedürfnisse des Fahrers bezogen auf die Einparksituation angezeigt.The distance-related relevances of individual obstacles can be more easily perceived by the driver due to the edge reinforcement according to the invention, whereby his attention can be directed to the relevant obstacles. An oversupply of image information is thus filtered with the aid of the method according to the invention and optimized to the driver's needs in relation to the parking situation.
Als kantenverstärkendes Verfahren sind beispielsweise grafikverarbeitende, mathematische Softwaresysteme basierend auf Kantenfilter und/oder Kantenoperatoren wie zum Beispiel Sobel, Laplace, Canny-Algorithmus, Kirsch-Operator und ähnöiche geeignet im sinne der vorliegenden Erfindung. Insbesondere soche Systeme, die auf dem Betrag der Gradienten basieren, so dass im Bereich von Kanten so genannte Gradientengebirge entstehen, sind zur durchführung der Kantenverstärkung bevorzugt. Durch anschließende Konturerkennungsverfahren wie beispielsweise dem Freeman-Code können Konturanhäufungen dann zu rudimentären Objekten gruppiert werden, um welche ein Bounding-Box gezogen werden kann.As an edge enhancement method, for example, graphics processing mathematical software systems based on edge filters and / or edge operators such as Sobel, Laplace, Canny algorithm, Kirsch operator and the like are suitable within the meaning of the present invention. In particular, such systems, which are based on the amount of the gradients, so that so-called gradient peaks arise in the region of edges, are preferred for carrying out the edge reinforcement. Subsequent contour recognition techniques, such as the Freeman code, can be used to group contours into rudimentary objects around which a bounding box can be drawn.
Moderne Parkhilfesysteme liefern bereits Informationen zu der Distanz zu den Hindernissen und auch zu der Richtung der Hindernisse, so dass eine Implementierung in bereits bestehende Hardware erfolgen kann.Modern parking assistance systems already provide information about the distance to the obstacles and also to the direction of the obstacles, so that an implementation can take place in already existing hardware.
Weitere Vorteile und vorteilhafte Ausgestaltungen des erfindungsgemäßen Gegenstandes sind der Beschreibung, den Zeichnungen und den Patentansprüchen zu entnehmen.Further advantages and advantageous embodiments of the subject invention are described in the description, the drawings and the claims.
In einer bevorzugten Ausgestaltung des erfindungsgemäßen Verfahrens können die erkannten Hindernisse in Abhängigkeit der ermittelten Abstandswerte und/oder der Winkellage eingefärbt und/oder animiert werden. Dadurch kann zusätzlich eine eindeutige, vom Fahrer leicht zu erfassende Beziehung zwischen dem Bildbereich mit dem zu beachtenden Hindernis und der Relevanz des Hindernisses hergestellt und angezeigt werden.In a preferred embodiment of the method according to the invention, the detected obstacles can be colored and / or animated as a function of the determined distance values and / or the angular position. As a result, in addition, a clear, easy to grasp relationship between the image area with the obstacle to be observed and the relevance of the obstacle can be established and displayed.
Weiterhin vorteilhaft können in Abhängigkeit der ermittelten Abstandswerte und/oder Winkellagen ermittelte Hindernisse mit einer Kantenabschwächung und/oder unscharf angezeigt werden. Auf diese Weise kann dem Fahrer auf einen kurzen blick vermittelt werden, welche Hindernisse wirklich relevant sind, ohne die nicht relevanten Hindernisse völlig wegzulassen.Further advantageously, obstacles determined in dependence on the determined distance values and / or angular positions can be displayed with an edge weakening and / or unsharp. In this way, the driver can be given a brief overview of which obstacles are really relevant, without completely omitting the non-relevant obstacles.
In einer weiteren Ausgestaltung des erfindungsgemäßen Verfahrens kann die Kantenverstärkung umso starker angezeigt werden je näher sich das erkannte Hindernis zum Kraftfahrzeug befindet und/oder die Kantenabschächung umso starker angezeigt werden je weiter sich das erkannte Hindernis zum Kraftfahrzeug befindet. Damit kann vorteilhalfterweise noch deutlicher eine nach Relevanz geordnete anzeige für den Fahrer bereitgestellt werden, die vom Fahrer nicht verlangt Zusatzinformationen wie zum Beispiel sich verfärbende Rechtecke oder Balken zu verkennen und zu verarbeiten. Auch für farbenblinde und/oder hörgeschädigte Fahrer ist das erfindungsgemäße System damit bestens geeignet.In a further embodiment of the method according to the invention, the closer the detected obstacle to the motor vehicle is and the more the recognized obstacle to the motor vehicle is located, the more the edge reinforcement is displayed. This can advantageously be an even more clearly arranged according to relevance display for the driver provided that does not require the driver to misjudge additional information such as discoloring rectangles or beams and process. Even for color-blind and / or hearing-impaired drivers system of the invention is thus ideally suited.
Auf Basis des erkannten Hindernisses und in Abhängigkeit der ermittelten Abstandswerte und/oder Winkellagen kann alternativ oder zusätzlich ein ganzer Bereich des Umfeldbildes eingefärbt angezeigt werden. Dies dient der nochmaligen Herausstellung der relevanten Hindernisse und deren Bildbereichen im Gegensatz zu den weniger relevanten Bereichen des angezeigten Umfeldbildes.On the basis of the detected obstacle and depending on the determined distance values and / or angular positions, alternatively or additionally, a whole area of the surrounding image can be displayed in a colored state. This serves to redraw the relevant obstacles and their image areas in contrast to the less relevant areas of the displayed environment image.
Ein weiterer Gegenstand der vorliegenden Erfindung ist eine Vorrichtung zur Darstellung von Hindernissen in einem Einparkhilfesystem von Kraftfahrzeugen umfassend
- – mindestens eine Kamera zur Ermittlung eines Umfeldbildes,
- – Mittel zum Erkennen von Hindernissen in dem Umfeldbild,
- – Mittel zur Bestimmung von Abstandswerten und/oder Winkellagen von erkannten Hindernissen, Mittel zur Ausführung einer Kantenverstärkung bezogen auf die Hindernisse oder Teile von Hindernissen enthaltenden Bereiche des Umfeldbildes und
- – eine Anzeige zur Darstellung des Umfeldbildes mit der Kantenverstärkung.
- At least one camera for determining an environment image,
- - means for detecting obstacles in the environment picture,
- Means for determining distance values and / or angular positions of detected obstacles, means for carrying out an edge enhancement with respect to the obstacles or parts of areas of the surroundings image containing obstacles, and
- - A display for displaying the surrounding image with the edge reinforcement.
Unter anderen können die Mittel zum Erkennen von Hindernissen in dem Umfeldbild Software-basiert sein.Among others, the means for detecting obstacles in the environment image may be software based.
Wie vorstehend bereits ausgeführt können neben der mindestens einen Kamera auch Sensoren wie beispielsweise Ultraschallsensoren zur Bestimmung von Abstandswerten und/oder Winkellagen der Hindernisse vorgesehen sein.As already stated above, in addition to the at least one camera, it is also possible to provide sensors, for example ultrasound sensors, for determining distance values and / or angular positions of the obstacles.
Die Mittel zur Ausführung einer Kantenverstärkung sind bevorzugt ebenfalls Software-basierte mathematische Algorithmen, die erfindungsgemäß bevorzugt in einer zentralen Steuerungseinheit oder in Kraftfahrzeug üblichen Medien-Steuergeräten integriert werden können.The means for carrying out an edge enhancement are preferably also software-based mathematical algorithms which, according to the invention, can preferably be integrated in a central control unit or in media control units customary in motor vehicles.
Die Anzeige zur Darstellung des Umfeldbildes kann ein in Fraftfahrzeugen übliches Display sein, wie es auch für die integrierte Navigation verwendet wird. Durch Überlagerung der Kantenverstärkung, die das Steuergerät bestimmt hat, mit dem Umfeldbild der Kamera kann eine klare und schnell erfassbare Information über die Relevanz von Hindernissen für den Fahrer zur Verfügung gestellt werden. The display for displaying the surrounding image may be a conventional display in vehicles, as it is also used for the integrated navigation. By superimposing the edge enhancement, which the control unit has determined, with the surrounding image of the camera, clear and quickly ascertainable information about the relevance of obstacles can be made available to the driver.
In einer bevorzugten Ausführungsform der erfindungsgemäßen Vorrichtung können die Mittel zur Bestimmung von Abstandwerten und/oder Winkellagen Ultraschall oder Radarsensoren sein. Auf diese Weise ist eine robuste, zuverlässige und in der Herstellung kostengünstige Bestimmung der benötigten Daten zu den Abstandswerten für die Hindernisse und/oder deren Winkellagen möglich.In a preferred embodiment of the device according to the invention, the means for determining distance values and / or angular positions may be ultrasound or radar sensors. In this way, a robust, reliable and cost-effective determination of the required data for the distance values for the obstacles and / or their angular positions is possible.
In einer weiteren vorteilhaften Ausführungsform der erfindungsgemäßen Vorrichtung können die Mittel zum Erkennen von Hindernissen und/oder die Mittel zur Ausführung einer Kantenverstärkung in einem Steuergerät integriert sein.In a further advantageous embodiment of the device according to the invention, the means for detecting obstacles and / or the means for performing an edge reinforcement may be integrated in a control device.
Die Kamera kann bevorzugterweise einen auf die Mittel zum Erkennen von Hindernissen abgestimmten Öffnungswinkel aufweisen. Dadurch kann in einfacher Weise ein optimierter Beobachtungsbereich festgelegt werden.The camera may preferably have an opening angle matched to the means for detecting obstacles. As a result, an optimized observation area can be determined in a simple manner.
In einer weiteren bevorzugten Ausgestaltung der erfindungsgemäßen Vorrichtung kann die Kamera das Umfeldbild in Form eines digitalen Signals erzeugen. Hierdurch wird sowohl die Hindernis-Erkennung als auch die Kantenverstärkung durch Software-basierte Systeme ermöglicht.In a further preferred embodiment of the device according to the invention, the camera can generate the environment image in the form of a digital signal. This allows both obstacle detection and edge enhancement by software-based systems.
Zeichnungendrawings
Nachfolgend wird die Erfindung unter Bezugnahme auf die anliegenden Zeichnungen anhand von bevorzugten Ausführungsbeispielen näher erläutert.The invention will be explained in more detail with reference to the accompanying drawings with reference to preferred embodiments.
Es zeigen:Show it:
In
In
ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- DE 102007002262 A1 [0002, 0002] DE 102007002262 A1 [0002, 0002]
Claims (10)
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102009029439A DE102009029439A1 (en) | 2009-09-14 | 2009-09-14 | Method and device for representing obstacles in a parking assistance system of motor vehicles |
CN2010800405845A CN102483882A (en) | 2009-09-14 | 2010-08-13 | Method and device for representing obstacles in a parking assistance system of motor vehicles |
US13/816,271 US20130242101A1 (en) | 2009-09-14 | 2010-08-13 | Method and Device for Representing Obstacles in a Parking Assistance System of Motor Vehicles |
EP10744918.3A EP2478510B1 (en) | 2009-09-14 | 2010-08-13 | Method and device for representing obstacles in a parking assistance system of motor vehicles |
PCT/EP2010/061849 WO2011029694A1 (en) | 2009-09-14 | 2010-08-13 | Method and device for representing obstacles in a parking assistance system of motor vehicles |
JP2012529185A JP2013504830A (en) | 2009-09-14 | 2010-08-13 | Obstacle display method and apparatus for parking support system of automobile |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102009029439A DE102009029439A1 (en) | 2009-09-14 | 2009-09-14 | Method and device for representing obstacles in a parking assistance system of motor vehicles |
Publications (1)
Publication Number | Publication Date |
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DE102009029439A1 true DE102009029439A1 (en) | 2011-03-24 |
Family
ID=42813056
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102009029439A Withdrawn DE102009029439A1 (en) | 2009-09-14 | 2009-09-14 | Method and device for representing obstacles in a parking assistance system of motor vehicles |
Country Status (6)
Country | Link |
---|---|
US (1) | US20130242101A1 (en) |
EP (1) | EP2478510B1 (en) |
JP (1) | JP2013504830A (en) |
CN (1) | CN102483882A (en) |
DE (1) | DE102009029439A1 (en) |
WO (1) | WO2011029694A1 (en) |
Cited By (4)
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DE102011006939A1 (en) * | 2011-04-07 | 2012-10-11 | Robert Bosch Gmbh | Parking assistance system with side boundary detection |
DE102018219227A1 (en) | 2018-11-12 | 2020-05-14 | Robert Bosch Gmbh | Method and device for generating a representation of obstacles in the vicinity of a vehicle |
US11186224B2 (en) | 2017-11-16 | 2021-11-30 | Volkswagen Aktiengesellschaft | Method and trailer-coupling assistance for assisting in the coupling process of a transportation vehicle reversing toward a trailer |
DE102021208235A1 (en) | 2021-07-29 | 2023-02-02 | Continental Autonomous Mobility Germany GmbH | Method for a camera system and camera system |
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KR20130036431A (en) * | 2011-10-04 | 2013-04-12 | 주식회사 만도 | Method, apparatus, and system for parking control |
KR20130118116A (en) * | 2012-04-19 | 2013-10-29 | 현대모비스 주식회사 | Apparatus and method avoiding collision with moving obstacles in automatic parking assistance system |
CN102963322B (en) * | 2012-09-22 | 2015-04-22 | 仲玥 | Automobile driving environment detecting device and working process thereof |
US20140092249A1 (en) * | 2012-09-28 | 2014-04-03 | Ford Global Technologies, Llc | Vehicle perimeter detection system |
US9085262B2 (en) | 2012-10-08 | 2015-07-21 | Microsoft Technology Licensing, Llc | Tinting indication of environmental conditions |
JP6205923B2 (en) * | 2013-07-11 | 2017-10-04 | 株式会社デンソー | Driving support device |
CN103487795B (en) * | 2013-09-29 | 2015-12-02 | 惠州市德赛西威汽车电子股份有限公司 | One is parked and is assisted by radar for backing car display packing and system thereof |
US9342747B2 (en) * | 2014-04-14 | 2016-05-17 | Bendix Commercial Vehicle Systems Llc | Vehicle driver assistance apparatus for assisting a vehicle driver in maneuvering the vehicle relative to an object |
DE102014208664A1 (en) * | 2014-05-08 | 2015-11-12 | Conti Temic Microelectronic Gmbh | METHOD AND DEVICE FOR DISABLING DISPLAYING A VEHICLE ENVIRONMENT ENVIRONMENT |
JP6260462B2 (en) * | 2014-06-10 | 2018-01-17 | 株式会社デンソー | Driving assistance device |
KR101637716B1 (en) | 2014-11-03 | 2016-07-07 | 현대자동차주식회사 | Apparatus and method for recognizing position of obstacle in vehicle |
JP6595219B2 (en) | 2015-06-08 | 2019-10-23 | 株式会社デンソーテン | Object notification device and object notification method |
CN105835777A (en) * | 2016-03-30 | 2016-08-10 | 乐视控股(北京)有限公司 | Display method and device and vehicle |
US9996083B2 (en) * | 2016-04-28 | 2018-06-12 | Sharp Laboratories Of America, Inc. | System and method for navigation assistance |
DE102017218074A1 (en) * | 2017-10-11 | 2019-04-11 | Robert Bosch Gmbh | Method for representing an environment of a vehicle |
KR102304601B1 (en) * | 2019-10-17 | 2021-09-27 | 주식회사 만도 | Apparatus for controlling autonomous parking and method thereof |
CN110979234A (en) * | 2019-12-25 | 2020-04-10 | 宜宾凯翼汽车有限公司 | Auxiliary reversing reminding system and method |
CN111845723A (en) * | 2020-08-05 | 2020-10-30 | 北京四维智联科技有限公司 | Full-automatic parking method and system |
CN113071480B (en) * | 2021-04-30 | 2022-06-03 | 重庆长安汽车股份有限公司 | Automatic parking obstacle detection method, parking method and system and vehicle |
CN114802261B (en) * | 2022-04-21 | 2024-04-19 | 合众新能源汽车股份有限公司 | Parking control method, obstacle recognition model training method and device |
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2009
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2010
- 2010-08-13 JP JP2012529185A patent/JP2013504830A/en active Pending
- 2010-08-13 EP EP10744918.3A patent/EP2478510B1/en active Active
- 2010-08-13 CN CN2010800405845A patent/CN102483882A/en active Pending
- 2010-08-13 WO PCT/EP2010/061849 patent/WO2011029694A1/en active Application Filing
- 2010-08-13 US US13/816,271 patent/US20130242101A1/en not_active Abandoned
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Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102011006939A1 (en) * | 2011-04-07 | 2012-10-11 | Robert Bosch Gmbh | Parking assistance system with side boundary detection |
US11186224B2 (en) | 2017-11-16 | 2021-11-30 | Volkswagen Aktiengesellschaft | Method and trailer-coupling assistance for assisting in the coupling process of a transportation vehicle reversing toward a trailer |
DE102017220459B4 (en) | 2017-11-16 | 2023-10-19 | Volkswagen Aktiengesellschaft | Method and trailer coupling assistant for supporting a coupling process of a motor vehicle reversing towards a trailer, and motor vehicle |
DE102018219227A1 (en) | 2018-11-12 | 2020-05-14 | Robert Bosch Gmbh | Method and device for generating a representation of obstacles in the vicinity of a vehicle |
DE102021208235A1 (en) | 2021-07-29 | 2023-02-02 | Continental Autonomous Mobility Germany GmbH | Method for a camera system and camera system |
Also Published As
Publication number | Publication date |
---|---|
CN102483882A (en) | 2012-05-30 |
EP2478510B1 (en) | 2014-12-10 |
EP2478510A1 (en) | 2012-07-25 |
WO2011029694A1 (en) | 2011-03-17 |
US20130242101A1 (en) | 2013-09-19 |
JP2013504830A (en) | 2013-02-07 |
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